CN102941772A - Lower-mobility parallel mechanism with constraint chains - Google Patents
Lower-mobility parallel mechanism with constraint chains Download PDFInfo
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- CN102941772A CN102941772A CN2012104447890A CN201210444789A CN102941772A CN 102941772 A CN102941772 A CN 102941772A CN 2012104447890 A CN2012104447890 A CN 2012104447890A CN 201210444789 A CN201210444789 A CN 201210444789A CN 102941772 A CN102941772 A CN 102941772A
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Abstract
The invention discloses a lower-mobility parallel mechanism with constraint chains. The parallel mechanism is a mechanism for realizing the translation of a cutting tool which is arranged on a moving platform along the Z-axis direction and rotation along the X-axis direction and the Y-axis direction. The mechanism comprises the moving platform, a static platform, an electric spindle type cutting tool, three active chains and a constraint chain, wherein one end of the active chain is connected with the static platform through a hooke joint, the other end is connected with the moving platform through a spherical hinge, and the moving platform rotates through extending one or two active chains or shortening the other two or one active chain; and one end of the constraint chain is connected with the static platform through the hooke joint, the other end is fixed on the moving platform through a flange, and symmetrical keys are formed on an internal shaft of an telescopic rod so as to enable the whole parallel mechanism not to rotate along the Z-axis direction. Through the simple parallel configuration, the two-degree-of-freedom rotation and single-degree-of-freedom translation which are realized by a complexed tool can be realized; the mechanism has the characteristics of being simple and practical in structure, high in precision, high in rigidity, low in cost, and high in development and application potentiality; and the functions are realized through the controlling technology and corresponding software development.
Description
Technical field
The parallel institution that the present invention relates to is that a kind of can the realization can be used in the Carving Machining equipment of complex profile along Z-direction translation and the drive unit that rotates along X and Y direction specifically.
Background technology
Now, parallel institution has been used for flight simulator, Digit Control Machine Tool etc., but rarely has use in Carving Machining.Present both at home and abroad to adopting parallel institution to realize that the research of the device of Carving Machining rarely has report, also there is not the engraving lathe that parallel institution is housed of moulding now for the processing of timber, stone material.Existing engraving lathe can only can not be realized the rotation along certain change in coordinate axis direction along the translation of X, Y, three coordinate directions of Z, and complicated three-dimensional profile difficulty of processing is strengthened, and multiple clamping can occur, wastes process time.
Summary of the invention
In order to solve the problem of above-mentioned existence, the purpose of this invention is to provide a kind of parallel institution of lower-mobility of Constrained chain, this shunting means can be realized rotating along the Z-direction translation with along X and Y direction.
The objective of the invention is to be achieved through the following technical solutions:
A kind of parallel institution of lower-mobility of Constrained chain, it is characterized in that: comprise moving platform, silent flatform, electric main shaft cutting tool, three drive chains 3 and a constraint chain (2), article three, drive chain 3 and moving platform 5, silent flatform 9 all are identical connected modes, one end of drive chain (3) links to each other with silent flatform 9 by Hooke's hinge 8, and the other end links to each other with moving platform 5 by spherical hinge 7; One end of constraint chain 2 links to each other with silent flatform 9 by Hooke's hinge 10, and the other end is fixed together by sleeve arrangement 6 and moving platform 5; Electricity main shaft cutting tool 12 is fixed with moving platform 5 by clamping device 11.Described constraint chain 2 should be fixing with moving platform 5, and remain vertical with moving platform 5.Part is equipped with symmetrical feather key 4 in the expansion link of described constraint chain 2, and whole parallel institution is not occured along the rotation on constraint chain 2 directions.Drive chain 3 is to be driven by servomotor 1, is connected with expansion link by variable transmission mechanism, connects by roller screw rotation is become rectilinear motion.The axis of electricity main shaft cutting tool 12 should keep vertical with the plane of moving platform 5, and electric main shaft cutting tool 12 is connected electric main shaft cutting tool 12 axis and constraint chain 2 deads in line by clamping device 11 with moving platform 5.By the elongation of expansion link in wherein one or two drive chain 3, the shortening of the expansion link in two other or the drive chain 3, drive moving platform 5 about or the swing of front and back, thereby drive electric main shaft cutting tool 12 about or the swing of front and back; By elongation or the shortening in various degree of three expansion links in the drive chain 3, drive moving up and down of moving platform 5, thereby drive moving up and down of electric main shaft cutting tool 12.
Advantage of the present invention and good effect:
A kind of parallel institution of lower-mobility of Constrained chain, the rotation of two frees degree that the lathe of energy implementation structure complexity could be realized and the translation of one degree of freedom, simple and practical, have the characteristics such as high accuracy, high rigidity, cost is lower, has higher market value.
Description of drawings
Fig. 1, Fig. 2, Fig. 3 are the structural scheme of mechanism of parallel institution of the lower-mobility of a kind of Constrained chain of the present invention;
Wherein, 1 servomotor, 2 constraint chains, 3 drive chains, 4 feather keys, 5 moving platforms, 6 sleeve arrangements, 7 spherical hinges, 8 drive chain Hooke's hinges, 9 silent flatforms, 10, constraint chain Hooke's hinge, 11 clamping devices, 12 electric king post system cutting tools.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
As shown in the figure, the present invention includes moving platform 5, silent flatform 9, electric king post system cutting tool 12, three drive chains 3 and a constraint chain 2, an end of drive chain links to each other with silent flatform 9 by Hooke's hinge 8, and the other end links to each other with moving platform 83 by spherical hinge 7; Constraint chain 2 one ends link to each other with silent flatform 9 by Hooke's hinge 10, and an other end links to each other with moving platform 5 by sleeve arrangement 6.Constraint chain 2 be fixed together by sleeve arrangement 6 and moving platform 5, constraint chain 2 should remain vertical with moving platform 5 planes; Symmetrical feather key 4 is housed on the expansion link of constraint chain 2, guarantees that relatively rotating along the constraint chain direction do not occur whole parallel institution; Electricity king post system cutting tool 12 keeps fixing by clamping device 11 and moving platform 5, and electric king post system cutting tool 12 axis remain vertical with moving platform 5 planes, and the axis of electric king post system cutting tool 13 keeps overlapping with the axis of constraint chain 2; The plane of silent flatform 9 and engraved stone lathe plane parallel.
Operation principle of the present invention:
As shown in Figure 1, on each drive chain 3 with separately servomotor 1, servomotor 1 active rotation, to rotatablely move by the screw thread pair in the expansion link and to change linear telescopic motion into, the like this elongation of one of them or two drive chains 3, the shortening of two other or a drive chain 3, realize moving platform about or the swing of front and back, thereby drive electric king post system cutting tool about or the swing of front and back; The different distance of three drive chains 3 allows expansion link extend or shortens, and drives moving platform 5 along the elongation of constraint chain 2 directions or shortening, thereby drives moving up and down of electric king post system cutting tool 12.
The present invention can also be used for other manipulator or other mechanical device that needs motion of the same type.
Claims (6)
1. the parallel institution of the lower-mobility of a Constrained chain, it is characterized in that: comprise moving platform (5), silent flatform (9), electric main shaft cutting tool (12), three drive chains (3) and a constraint chain (2), article three, drive chain (3) and moving platform (5), silent flatform (9) all are identical connected modes, one end of drive chain (3) links to each other with silent flatform (9) by Hooke's hinge (8), and the other end links to each other with moving platform (5) by spherical hinge (7); One end of constraint chain (2) links to each other with silent flatform (9) by Hooke's hinge (10), and the other end is fixed together by sleeve arrangement (6) and moving platform (5); Electricity main shaft cutting tool (12) is fixed with moving platform (5) by clamping device (11).
2. according to parallel institution claimed in claim 1, it is characterized in that: described constraint chain (2) should be fixing with moving platform (5), and remain vertical with moving platform (5).
3. according to parallel institution claimed in claim 2, it is characterized in that: part is equipped with symmetrical feather key (4) in the expansion link of described constraint chain (2), and whole parallel institution is not occured along the rotation on constraint chain (2) direction.
4. according to parallel institution claimed in claim 1, it is characterized in that: drive chain (3) is to be driven by servomotor (1), is connected with expansion link by variable transmission mechanism, connects by roller screw rotation is become rectilinear motion.
5. according to parallel institution claimed in claim 1, it is characterized in that: the axis of electric main shaft cutting tool (12) should keep vertical with the plane of moving platform (5), electricity main shaft cutting tool (12) is connected electric main shaft cutting tool (12) axis and constraint chain (2) dead in line by clamping device (11) with moving platform (5).
6. according to parallel institution claimed in claim 4, it is characterized in that: by the elongation of expansion link in wherein one or two drive chain (3), the shortening of the expansion link in two other or the drive chain (3), drive moving platform (5) about or the swing of front and back, thereby drive electric main shaft cutting tool (12) about or the swing of front and back; By three expansion links elongation or shortening in various degree in the drive chain (3), drive moving up and down of moving platform (5), thereby drive moving up and down of electric main shaft cutting tool (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104447890A CN102941772A (en) | 2012-11-09 | 2012-11-09 | Lower-mobility parallel mechanism with constraint chains |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104447890A CN102941772A (en) | 2012-11-09 | 2012-11-09 | Lower-mobility parallel mechanism with constraint chains |
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| Publication Number | Publication Date |
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| CN102941772A true CN102941772A (en) | 2013-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012104447890A Pending CN102941772A (en) | 2012-11-09 | 2012-11-09 | Lower-mobility parallel mechanism with constraint chains |
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| CN (1) | CN102941772A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842011A (en) * | 2015-04-08 | 2015-08-19 | 昆明理工大学 | Novel three-degree-of-freedom steel billet burr removal machine |
| CN112621723A (en) * | 2020-12-22 | 2021-04-09 | 东南大学 | 5UPS-2RP (U) redundancy drive parallel robot |
| CN113510685A (en) * | 2021-06-18 | 2021-10-19 | 东南大学 | Heavy-load 4UPS-PU parallel clamping robot |
| CN115319865A (en) * | 2022-10-17 | 2022-11-11 | 海阳市长川电机有限公司 | Main shaft capable of machining side edge of plate type furniture at any angle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06210999A (en) * | 1993-01-18 | 1994-08-02 | Kenichi Furukawa | Forming method of three-dimensional shape |
| CN201659821U (en) * | 2010-04-06 | 2010-12-01 | 西安理工大学 | Cable-driven parallel engraving machine |
| CN101905618A (en) * | 2010-06-11 | 2010-12-08 | 东华大学 | Plane-engraved asymmetric 5DOF (Degree of Freedom) series-parallel robot based on machine vision |
-
2012
- 2012-11-09 CN CN2012104447890A patent/CN102941772A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06210999A (en) * | 1993-01-18 | 1994-08-02 | Kenichi Furukawa | Forming method of three-dimensional shape |
| CN201659821U (en) * | 2010-04-06 | 2010-12-01 | 西安理工大学 | Cable-driven parallel engraving machine |
| CN101905618A (en) * | 2010-06-11 | 2010-12-08 | 东华大学 | Plane-engraved asymmetric 5DOF (Degree of Freedom) series-parallel robot based on machine vision |
Non-Patent Citations (1)
| Title |
|---|
| 罗继曼等: "混联式石材加工机械手3-TPS/TP型工作头的运动特性分析", 《沈阳建筑大学学报（自然科学版）》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842011A (en) * | 2015-04-08 | 2015-08-19 | 昆明理工大学 | Novel three-degree-of-freedom steel billet burr removal machine |
| CN104842011B (en) * | 2015-04-08 | 2017-07-25 | 昆明理工大学 | A kind of 3DOF steel billet burr rejecting machine |
| CN112621723A (en) * | 2020-12-22 | 2021-04-09 | 东南大学 | 5UPS-2RP (U) redundancy drive parallel robot |
| CN112621723B (en) * | 2020-12-22 | 2022-06-14 | 东南大学 | 5UPS-2RP (U) redundancy drive parallel robot |
| CN113510685A (en) * | 2021-06-18 | 2021-10-19 | 东南大学 | Heavy-load 4UPS-PU parallel clamping robot |
| CN113510685B (en) * | 2021-06-18 | 2022-07-15 | 东南大学 | Heavy-load 4UPS-PU parallel clamping robot |
| CN115319865A (en) * | 2022-10-17 | 2022-11-11 | 海阳市长川电机有限公司 | Main shaft capable of machining side edge of plate type furniture at any angle |
| CN115319865B (en) * | 2022-10-17 | 2023-02-17 | 海阳市长川电机有限公司 | Main shaft capable of machining side edge of plate type furniture at any angle |
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Application publication date: 20130227 |